Eiki Izumi

Development of Force Controlled Robot for Grinding

Abstract A Force Controlled Robot for grinding has been developed for factory use. The robot is based on a conventional industrial robot, but a force sensor, force control computing board and force control software have been added. The Force Controlled Robot uses Virtual Compliance Control, with which the position control mode, force control mode and compliance control mode can be realized. The difference between the force control mode and compliance control mode in grinding use have been studied. Two algorithms for grinding applications have been developed. One is the Gradient Prediction Method to improve contour following in the force control mode. The other is the Progressive Stiffness Method for grinding operation using the compliance control mode. Other characteristic functions for grinding applications and force control commands to facilitate teaching operations have also been studied.